Revision 5d7ba19c src/server/server.cpp

View differences:

src/server/server.cpp
100 100 

  		




  101
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    printf("> one loop = %3.1fms\n",loop_delay);


  		




  102
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  103
  
    
    printf("> waiting for incoming joint states\n");


  		




  
  104
  
    

  		




  103
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    //wait for incoming joint data:


  		




  104
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    while (middleware->ok()){


  		




  105
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        //mw tick


  		




  ......




  122
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    }


  		




  123
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  124
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    printf("> joint data arrived, control loop active.\n");


  		




  
  127
  
    
    controller->set_activated();


  		




  125
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    //fine, data is arriving, activate and run control loop:


  		




  127
  130
  
    
    while (middleware->ok()){


  		












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